Lenze ECS series User manual

EDBCSXM064
.LKp
Ä.LKpä
Operating Instructions
ECS
l
ECSEMxxx / ECSDMxxx / ECSCMxxx
Axis module ˘ "Motion"


2 EDBCSXM064 EN 11.0
Please read these instructions before you start working!
Follow the enclosed safety instructions.
This documentation is valid for ECSxM axis modules, "Motion" application software from V 1.2, as of
version:

ECS x M xxx x 4 x xxx XX xx xx
Device type 
ATTENTION
L ´appareil est sous tension
pendant 180s après la coupure
de la tension réseau
WARNING
Device is live up to 180s
after removing
mains voltage

Design
E = standard panel−mounted unit, IP20
D = push−through technique (thermally separated)
C = cold−plate technique
Application
M = "Motion"
Peak current
004 = 4 A
008 = 8 A
016 = 16 A
032 = 32 A
048 = 48 A
064 = 64 A
Fieldbus interface
C = MotionBus/system bus (CAN)
Voltage class
4 = 400 V/500 V
Technical version
B = standard
V = coated
I = for IT systems, uncoated
K= for IT systems, coated
Variant
042 = Motion CiA402
Hardware version
1A or higher
Operating software version (B−SW)
6.0 or higher
0Fig. 0Tab. 0
© 2013 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, 31855 Aerzen
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Sy-
stems GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Ne-
cessary corrections will be included in subsequent editions.

3
EDBCSXM064 EN 11.0
ECSEA_003A


4 EDBCSXM064 EN 11.0
Scope of supply
Position Description Quantity
A ECSM... axis module 1
Accessory kit with fixing material corresponding to the design ():
l"E" − standard panel−mounted unit
l"D" − push−through technique
l"C" − cold−plate technique
1
Mounting Instructions 1
Drilling jig 1
Functional earth conductor (only ECSDM...) 1
Note!
The ECSZA000X0B connector set must be ordered separately.
Connections and interfaces
Position Description Detailed
information
X23 Connections
lDC−bus voltage
lPE
54
BLEDs: Status and fault display
X1 Automation interface (AIF) for
lCommunication module
lOperating module (keypad XT)
79
191
x2 PE connection of AIF
X3 Analog input configuration 69
X4 CAN connection
lMotionBus (CAN) / for ECSxA: System bus (CAN)
lInterface to the master control
80
X14 CAN−AUXconnection
lSystem bus (CAN)
lPC interface/HMI for parameter setting and diagnostics
X6 Connections
lLow−voltage supply
lDigital inputs and outputs
lAnalog input
l"Safe torque off" (formerly "safe standstill")
64
68
69
70
S1 DIP switch
lCAN node address
lCAN baud rate
197
X7 Resolver connection 86
X8 Encoder connection
lIncremental encoder (TTL encoder)
lSin/cos encoder
87
X25 Brake control connection 61
X24 Motor connection 60
Status displays
LED Operating state Check
Red Green
Off On Controller enabled, no fault
Off Blinking Controller inhibited (CINH), switch−on inhibit Code C0183
Blinking Off Fault/error (TRIP) active Code C0168/1
Blinking On Warning/FAIL−QSP active Code C0168/1

Contents i
5
EDBCSXM064 EN 11.0
1 Preface and general information 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About these Operating Instructions 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Terminology used 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Code descriptions 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Features of the axis module ECSxM (Motion) 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Structure 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Scope of supply 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Legal regulations 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety and application notes for Lenze controllers 18. . . . . . . . . . . . . . . . . .
2.2 Thermal motor monitoring 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Forced ventilated or naturally ventilated motors 23. . . . . . . . . . . . . . . . . .
2.2.2 Self−ventilated motors 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Residual hazards 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Safety instructions for the installation according to UL 28. . . . . . . . . . . . . . . . . . . . .
2.5 Notes used 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General data and operating conditions 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Rated data 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Current characteristics 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Increased continuous current depending on the control factor 34. . . . . . .
3.3.2 Device protection by current derating 37. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Mechanical installation 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Important notes 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Mounting with fixing rails (standard installation) 39. . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Dimensions 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Mounting steps 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Mounting with thermal separation (push−through technique) 41. . . . . . . . . . . . . . .
4.3.1 Dimensions 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Mounting steps 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Mounting in cold−plate design 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Dimensions 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Mounting steps 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
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6 EDBCSXM064 EN 11.0
5 Electrical installation 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 48. . . . . . .
5.2 Power terminals 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Connection to the DC bus (+UG, −UG) 54. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Connection plan for mimimum wiring with internal
brake resistor 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Connection plan for mimimum wiring with external
brake resistor 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Motor connection 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Motor holding brake connection 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Connection of an ECSxK... capacitor module (optional) 63. . . . . . . . . . . . . .
5.3 Control terminals 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Digital inputs and outputs 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Analog input 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Safe torque off 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Automation interface (AIF) 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Wiring of system bus (CAN) 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Wiring of the feedback system 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Resolver connection 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Encoder connection 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Digital frequency input/output (encoder simulation) 90. . . . . . . . . . . . . . .
6 Commissioning 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before you start 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Commissioning steps (overview) 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Basic settings with GDC 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Setting of homing 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Loading the Lenze setting 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Setting of mains data 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Selecting the function of the charging current limitation 101. . . . . . . . . . .
6.4.2 Setting the voltage thresholds 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Entry of motor data for Lenze motors 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Holding brake configuration 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Closing the brake 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 Opening the brake 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
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EDBCSXM064 EN 11.0
6.7 Setting of the feedback system for position and speed control 109. . . . . . . . . . . . . . .
6.7.1 Resolver as position and speed encoder 110. . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Resolver as absolute value encoder 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 TTL/SinCos encoder as position and speed encoder 113. . . . . . . . . . . . . . . .
6.7.4 TTL/SinCos encoder as position encoder and resolver
as speed encoder 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.5 Absolute value encoder as position and speed encoder 121. . . . . . . . . . . . .
6.7.6 Absolute value encoder as position encoder and resolver
as speed encoder 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Selecting the control interface (C4010) 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Process data to the axis module (control word Ctrl1 and setpoints) 131. . . . . . . . . .
6.10 Process data from the axis module (status words and actual values) 134. . . . . . . . .
6.10.1 Toggle−bit monitoring 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11 Entry of machine parameters 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Configuring the digital inputs and outputs 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.1 Digital inputs for communication via the
MotionBus (CAN) X4 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.2 Digital inputs for communication via the
automation interface (AIF) X1 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.3 Setting the polarity of digital inputs and outputs 142. . . . . . . . . . . . . . . . . .
6.13 Setting of homing parameters 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.1 Homing parameters 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.2 Homing modes 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.3 Shifting the zero position with regard to the home position
(offsets C3011, C3012) 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.4 Example: Reference search with linear positioning axis 156. . . . . . . . . . . .
6.13.5 Example: Reference search with continuous positioning axis 158. . . . . . . .
6.14 Selection of the operating mode 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14.1 Operating mode "Interpolated Position Mode" (IP−Mode) 161. . . . . . . . . . .
6.14.2 "Homing" operating mode 164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14.3 "Manual jog" operating mode 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14.4 "Velocity" operating mode 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15 Controller enable (CINH = 0) 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16 Following error monitoring (C3030, C3031) 170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17 Evaluating and retracting from hardware limit switch 172. . . . . . . . . . . . . . . . . . . . .
6.17.1 Evaluating hardware limit switches 172. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17.2 Retracting from hardware limit switches 172. . . . . . . . . . . . . . . . . . . . . . . . .
6.18 Quick stop (QSP) 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
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8 EDBCSXM064 EN 11.0
6.19 Operation with motors from other manufacturers 174. . . . . . . . . . . . . . . . . . . . . . . .
6.19.1 Entering motor data manually 174. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.19.2 Checking the direction of rotation of the motor feedback system 177. . . .
6.19.3 Adjusting current controller 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.19.4 Effecting rotor position adjustment 180. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.20 Optimising the drive behaviour after start 183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.20.1 Speed controller adjustment 183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.20.2 Adjustment of field controller and field weakening controller 185. . . . . . .
6.20.3 Resolver adjustment 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Parameter setting 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 General information 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Parameter setting with "Global Drive Control" (GDC) 190. . . . . . . . . . . . . . . . . . . . . .
7.3 Parameter setting with the XT EMZ9371BC keypad 191. . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Connecting the keypad 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Description of the display elements 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Description of the function keys 194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Changing and saving parameters 195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Configuration 196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Configuring MotionBus/system bus (CAN) 197. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Setting CAN node address and baud rate 197. . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Individual addressing 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 Defining boot−up master in the drive system 203. . . . . . . . . . . . . . . . . . . . . .
8.1.4 Setting of boot−up time/cycle time 204. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.5 Executing a reset node 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.6 Axis synchronisation (CAN synchronisation) 207. . . . . . . . . . . . . . . . . . . . . .
8.1.7 Monitoring of the synchronisation (sync time slot) 209. . . . . . . . . . . . . . . . .
8.1.8 Axis synchronisation via CAN 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.9 Axis synchronisation via terminal X6/DI1 211. . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Node guarding 212. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Diagnostics codes 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.1 CAN bus status (C0359) 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.2 CAN telegram counter (C0360) 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.3 CAN bus load (C0361) 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Remote parameterisation (gateway function) 217. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
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EDBCSXM064 EN 11.0
9 Monitoring functions 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Fault responses 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Overview of monitoring functions 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Configuring monitoring functions 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Monitoring times for process data input objects 225. . . . . . . . . . . . . . . . . . .
9.3.2 Time−out monitoring for activated remote parameterisation 227. . . . . . . .
9.3.3 Short circuit monitoring (OC1) 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4 Earth fault monitoring (OC2) 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.5 Motor temperature monitoring (OH3, OH7) 229. . . . . . . . . . . . . . . . . . . . . .
9.3.6 Heatsink temperature monitoring (OH, OH4) 231. . . . . . . . . . . . . . . . . . . . .
9.3.7 Monitoring of internal device temperature (OH1, OH5) 232. . . . . . . . . . . . .
9.3.8 Function monitoring of thermal sensors (H10, H11) 233. . . . . . . . . . . . . . . .
9.3.9 Current load of controller (I x t monitoring: OC5, OC7) 234. . . . . . . . . . . . . .
9.3.10 Current load of motor (I2 x t monitoring: OC6, OC8) 237. . . . . . . . . . . . . . . .
9.3.11 DC−bus voltage monitoring (OU, LU) 241. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.12 Voltage supply monitoring − control electronics (U15) 244. . . . . . . . . . . . . .
9.3.13 Motor phase failure monitoring (LP1) 244. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.14 Monitoring of the resolver cable (Sd2) 245. . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.15 Motor temperature sensor monitoring (Sd6) 246. . . . . . . . . . . . . . . . . . . . . .
9.3.16 Monitoring of the absolute value encoder initialisation (Sd7) 247. . . . . . . .
9.3.17 Sin/cos signal monitoring (Sd8) 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.18 Monitoring of the speed system deviation (nErr) 249. . . . . . . . . . . . . . . . . . .
9.3.19 Monitoring of max. system speed (NMAX) 250. . . . . . . . . . . . . . . . . . . . . . . .
9.3.20 Monitoring of the rotor position adjustment (PL) 251. . . . . . . . . . . . . . . . . .
10 Diagnostics 252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Diagnostics with Global Drive Control (GDC) 252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Diagnostics with Global Drive Oscilloscope (GDO) 253. . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 GDO buttons 254. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2 Diagnostics with GDO 255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Diagnostics with the XT EMZ9371BC keypad 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Diagnostics with PCAN−View 260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.1 Monitoring of telegram traffic on the CAN bus 260. . . . . . . . . . . . . . . . . . . .
10.4.2 Setting all CAN nodes to the "Operational" status 262. . . . . . . . . . . . . . . . .

Contentsi

10 EDBCSXM064 EN 11.0
11 Troubleshooting and fault elimination 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Fault analysis 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1 Fault analysis via the LED display 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.2 Fault analysis with keypad XT EMZ9371BC 263. . . . . . . . . . . . . . . . . . . . . . .
11.1.3 Fault analysis with the history buffer 264. . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.4 Fault analysis via application status word (C3150/C3151) 266. . . . . . . . . . .
11.1.5 Fault analysis via LECOM status words (C0150/C0155) 267. . . . . . . . . . . . .
11.2 Malfunction of the drive 269. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Fault messages 270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.1 Causes and remedies 270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2 Reset fault messages (TRIP−RESET) 278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Appendix 279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1 Code table 279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 General information about the system bus (CAN) 333. . . . . . . . . . . . . . . . . . . . . . . . .
12.3 Communication with MotionBus/system bus (CAN) 334. . . . . . . . . . . . . . . . . . . . . . .
12.3.1 Structure of the CAN data telegram 334. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2 Communication phases of the CAN network (NMT) 336. . . . . . . . . . . . . . . .
12.3.3 Process data transfer 339. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4 Parameter data transfer 345. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5 Addressing of the parameter and process data objects 351. . . . . . . . . . . . .
12.4 Overview of accessories 353. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.1 Connector sets 353. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.2 Shield mounting kit 353. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.3 Components for operation and communication 354. . . . . . . . . . . . . . . . . . .
12.4.4 Brake resistor 355. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.5 Mains fuses 357. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.6 Mains chokes 358. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.7 RFI filters 359. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 Index 360. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general information
About these Operating Instructions
1
11
EDBCSXM064 EN 11.0
1 Preface and general information
1.1 About these Operating Instructions
These Operating Instructions will assist you in connecting and commissioning the ECSxM...
axis modules.
They contain safety instructions which must be observed!
All persons working on and with the ECSxM... axis modules must have the Operating
Instructions available and must observe the information and notes relevant for their work.
The Operating Instructions must always be in a complete and perfectly readable state.

Preface and general information
About these Operating Instructions
Terminology used
1

12 EDBCSXM064 EN 11.0
1.1.1 Terminology used
Term In the following text used for
Power supply module ECSxE... power supply module
ECSxE...
Capacitor module ECSxK... capacitor module
ECSxK...
Axis module
Controller
Standard device
Axis module of the ECS series
lECSxS... − "Speed and Torque"
lECSxP... − "Posi and Shaft"
lECSxM... − "Motion"
lECSxA... − "Application"
ECSxS...
ECSxP...
ECSxM...
ECSxA ...
Drive system ECS drive system consisting of:
lECSxE... power supply module
lAxis module ECSxS... / ECSxP... / ECSxM... / ECSxA...
lECSxK series capacitor module (optional)
lfurther Lenze drive components (accessories)
24 V supply
Low−voltage supply
Voltage supply
lof the control card, voltage range 20 ... 30 V DC (±0 V)
lof the "safe torque off" function (formerly "safe standstill"), voltage range
18 ... 30 V DC (±0 V)
lof the motor holding brake, voltage range 23 ... 30 V DC (±0 V)
AIF Automation InterFace
System bus (CAN) Lenze standard bus system based on CANopen for
lcommunication with a higher−level host system (PLC) or further controllers.
lparameter setting and diagnostics.
MotionBus (CAN) The "MotionBus (CAN)" term expresses the functionality of the CAN interface X4 in
case of ECSxS/P/M... axis modules, where communication takes place using a
higher−level host system (PLC) or further controllers exclusively via the X4 interface.
Interface X14 (CAN−AUX) is exclusively used for parameter setting and diagnostics.
DDS Drive PLC Developer Studio
(Lenze software for PLC programming acc. to IEC 61131)
GDC Global Drive Control
(Lenze software for parameter setting and diagnostics)
GDO Global Drive Oscilloscope
(additional diagnostic tool of the GDC)
Cxxxx Code Cxxxx (e.g. C0351)
Parameters which serve to parameterise or monitor the controller.
Cxxxx/y Subcode y of code Cxxxx (e. g. C0470/3 = subcode 3 of code C0470)
Xk/y Terminal y on terminal strip Xk (e.g. X6/B+ = terminal B+ on terminal strip X6)

Preface and general information
About these Operating Instructions
Code descriptions
1
13
EDBCSXM064 EN 11.0
1.1.2 Code descriptions
Lenze codes are described in the form of tables with the following structure:
Column Abbreviation Meaning
No. Cxxxx Code no. Cxxxx
1Subcode 1 of Cxxxx
2Subcode 2 of Cxxxx
Cxxxx Changed input value of the code or subcode is accepted after pressing
.
[Cxxxx] Changed input value of the code or subcode is accepted after pressing
 when the controller is inhibited.
Name LCD display of the keypad XT EMZ9371BC
Lenze/{Appl.} xLenze setting:
lValue at the time of delivery or after loading the Lenze setting using
C0002.
{xxx...} Different application initialisation value
lValue at the time of delivery
lAfter loading the Lenze setting using C0002, the application
initialisation value is overwritten with the Lenze setting.
lThe application initialisation values can be restored by loading the
application software with "Global Drive Loader" (GDL).
àThe "Important" column contains further information
Selection 1 {%} 99 minimum value {unit}maximum value
IMPORTANT Short code description
Example
Code Possible settings IMPORTANT
No. Designation Lenze/
{Appl.}
Selection
C0003 Par save 0Non−volatile saving of parameter
set
0No response
1Save parameter set
C1192 Selection of resistance
characteristic for PTC
1Char.: OHM 1000
{0}
0 {1 W} 30000 PTC characteristic:
resistance R1 at T1
2Char.: OHM 2225 PTC characteristic:
resistance R2 at T2

Preface and general information
Features of the axis module ECSxM (Motion)
1

14 EDBCSXM064 EN 11.0
1.2 Features of the axis module ECSxM (Motion)
ƒSafety function "safe torque off" (formerly "safe standstill")
ƒHoming can be selected from 19 modes
ƒBrake logic activatable
ƒSwitching of operating modes
– "Interpolated Position Mode" (for travel according to setpoint selection)
– "Homing Mode"
– "Manual Jog"
– "Velocity Mode"
ƒTorque feedforward control
ƒFine interpolation
ƒInterpolation cycle can be selected between 1 − 10 ms
ƒProcess coordination by higher−level host system (PLC)
ƒToggle bit monitoring
ƒMonitor data selectable via control word
ƒDouble CAN ON BORD
–MotionBus (CAN):
Interface X4 "CAN" (PDO1, Sync−based) for communicating with a higher−level
host system (PLC) or further controllers.
–System bus (CAN):
Interface X14 "CAN−AUX" for parameter setting and diagnostics
ƒSelectable control interfaces (via code C4010):
– MotionBus (CAN)
– MotionBus (EtherCAT) via the automation interface (AIF)
– Via codes through parameter channel
ƒSupported feedback systems:
– Resolver with and without position storage
– Encoder (incremental encoder (TTL encoder), sin/cos encoder)
ƒCommissioning, parameter setting and diagnostics with the Lenze parameter
setting and operating program "Global Drive Control" (GDC) or the XT EMZ9371BC
keypad

Preface and general information
Structure
1
15
EDBCSXM064 EN 11.0
1.3 Structure
TTL encoder
Sin/cos encoder
Motor
M
3~
R
PWM
VEC CTRL
Motor control
Position
control
Speed
control
Current/torque
control
62.5 s
m
16 bits
16 bits
32 bits
X4
ECSxM
CAN_IO
CAN_SYNC
+
C0011
*
Fine
interpolation
Digital_IO
Control word
Status word
Homing
Drive control
Set position
(32 bits)
Actual position (32 bits)
Monitor data
Feedback
Toggle bit
-
X6
C3165
C3162
C3161C3160
C3153
C3152
C3151
C3150
C3181
C3180
Init
IP-Mode
Stand by
VelMode
C0579
C0576
C0135
C0150
UG+ UG- UG+ UG- PE PE
C0936
C0935
C3011
C3010
C3012
C3421
C3420
C3422
C3034
C3032
C3030
C3033
C3031
++
C3430
*
250 s m
1000 s m
X7
X8 PE
WVU
alternative
C3008
C3002
C3211
C3210
C3201
C0136
C0497
C0011
C0051
C0022
C0074
C0076
C0078
C0081
C0085
C0088
C0090
C0023
C0075
C0077
C0080
C0084
C0087
C0089
C0091
C0053
C0079
C0082
C0083
C0092
C0018
C0019
C0071
C0105
C0070
C0072
C0030
C0095
C0416
C0420
C0427
C0491
C0540
C0058
C0098
C0419
C0421
C0490
C0495
C3001
C0050
C0909
C4018
Trouble
Homing
ManJog
C3009
C3012
C3011
C3010
C3021
C3020
C3022
C3170
C3038
C3037
C5000
C3175
C3200
C5001
C4011
X1
AIF_IO
DI1: EtherCAT_SYNC
C4010 = 2
(AIF)
C4010 = 0
(CAN)
ECSXA502
Fig. 1−1 Structure of the ECS application "Motion"

Preface and general information
Scope of supply
1

16 EDBCSXM064 EN 11.0
1.4 Scope of supply
The scope of supply of the ECSxM... axis module includes:
ƒStandard device
ƒAccessory kit with fixings according to the design:
– "E" − panel−mounted device
– "D" − push−through technique
– "C" − cold−plate technique
ƒMounting Instructions
ƒDrilling jig
ƒFunctional earth conductor (only ECSDM...)
Accessories
The appendix includes information on the following accessories: (353).
ƒConnector sets for
– power supply modules: ECSZE000X0B
– capacitor modules: ECSZK000X0B
– axis modules: ECSZA000X0B
ƒECSZS000X0B001 shield mounting kit (EMC accessories)
ƒComponents for operation and communication
ƒBrake resistors
ƒMains fuses
ƒMains chokes
ƒRFI filters
Tip!
Information and auxiliary devices related to the Lenze products can be found
in the download area at
http://www.Lenze.com

Preface and general information
Legal regulations
1
17
EDBCSXM064 EN 11.0
1.5 Legal regulations
Identification Nameplate CE designation Manufacturer
Lenze controllers are
unambiguously designated by the
contents of the nameplate.
Conforms to the EC Low−Voltage
Directive
Lenze Automation GmbH
Grünstraße 36
D−40667 Meerbusch
Application as
directed
ECSxM... axis modules
lmust only be operated under the conditions prescribed in these Instructions.
lare components
– for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous
motors.
– for installation into a machine
– for assembly with other components to form a machine.
lare electrical equipment for the installation in control cabinets or similar closed operating areas.
lcomply with the protective requirements of the EC Low−Voltage Directive.
lare not machines for the purpose of the EC Machinery Directive.
lare not to be used as domestic appliances, but for industrial purposes only.
Drive systems with ECSxM... axis modules
lcomply with the EC Directive "Electromagnetic compatibility" if they are installed according to the guidelines
of CE−typical drive systems.
lcan be used
– at public and non−public mains.
– in industrial premises.
lThe user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
Liability lThe information, data and notes in these Instructions met the state of the art at the time of printing. Claims
on modifications referring to axis modules and components which have already been supplied cannot be
derived from the information, illustrations and descriptions given in these Instructions.
lThe specifications, processes, and circuitry described in these Instructions are for guidance only and must be
adapted to your own specific application. Lenze does not take responsibility for the suitability of the process
and circuit proposals.
lLenze does not accept any liability for damages and failures caused by:
– Disregarding the Operating Instructions
– Unauthorised modifications to the axis module
– Operating errors
– Improper working on and with the axis module
Warranty lTerms of warranty: See terms of sales and delivery of Lenze Drive Systems GmbH.
lWarranty claims must be made to Lenze immediately after detecting the deficiency or fault.
lThe warranty is void in all cases where liability claims cannot be made.

Safety instructions
General safety and application notes for Lenze controllers
2

18 EDBCSXM064 EN 11.0
2 Safety instructions
2.1 General safety and application notes for Lenze controllers
(in accordance with Low−Voltage Directive 2006/95/EC)
For your personal safety
Disregarding the following safety measures can lead to severe injury to persons and
damage to material assets:
ƒOnly use the product as directed.
ƒNever commission the product in the event of visible damage.
ƒNever commission the product before assembly has been completed.
ƒDo not carry out any technical changes on the product.
ƒOnly use the accessories approved for the product.
ƒOnly use original spare parts from Lenze.
ƒObserve all regulations for the prevention of accidents, directives and laws
applicable on site.
ƒTransport, installation, commissioning and maintenance work must only be carried
out by qualified personnel.
– Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or
DIN VDE 0110 and all national regulations for the prevention of accidents.
– According to this basic safety information, qualified, skilled personnel are persons
who are familiar with the assembly, installation, commissioning, and operation of
the product and who have the qualifications necessary for their occupation.
ƒObserve all specifications in this documentation.
– This is the condition for safe and trouble−free operation and the achievement of
the specified product features.
– The procedural notes and circuit details described in this documentation are only
proposals. It is up to the user to check whether they can be transferred to the
particular applications. Lenze Automation GmbH does not accept any liability for
the suitability of the procedures and circuit proposals described.
ƒDepending on their degree of protection, some parts of the Lenze controllers
(frequency inverters, servo inverters, DC speed controllers) and their accessory
components can be live, moving and rotating during operation. Surfaces can be hot.
– Non−authorised removal of the required cover, inappropriate use, incorrect
installation or operation, creates the risk of severe injury to persons or damage to
material assets.
– For more information, please see the documentation.
ƒHigh amounts of energy are produced in the controller. Therefore it is required to
wear personal protective equipment (body protection, headgear, eye protection, ear
protection, hand guard).

Safety instructions
General safety and application notes for Lenze controllers
2
19
EDBCSXM064 EN 11.0
Application as directed
Controllers are components which are designed for installation in electrical systems or
machines. They are not to be used as domestic appliances, but only for industrial purposes
according to EN 61000−3−2.
When controllers are installed into machines, commissioning (i.e. starting of the operation
as directed) is prohibited until it is proven that the machine complies with the regulations
of the EC Directive 2006/42/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of the operation as directed) is only allowed when there is
compliance with the EMC Directive (2004/108/EC).
The controllers meet the requirements of the Low−Voltage Directive 2006/95/EC. The
harmonised standard EN 61800−5−1 applies to the controllers.
The technical data and supply conditions can be obtained from the nameplate and the
documentation. They must be strictly observed.
Warning: Controllers are products which can be installed in drive systems of category C2
according to EN 61800−3. These products can cause radio interferences in residential areas.
In this case, special measures can be necessary.
Transport, storage
Please observe the notes on transport, storage, and appropriate handling.
Observe the climatic conditions according to the technical data.
Installation
The controllers must be installed and cooled according to the instructions given in the
corresponding documentation.
The ambient air must not exceed degree of pollution 2 according to EN 61800−5−1.
Ensure proper handling and avoid excessive mechanical stress. Do not bend any
components and do not change any insulation distances during transport or handling. Do
not touch any electronic components and contacts.
Controllers contain electrostatic sensitive devices which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this
might endanger your health!

Safety instructions
General safety and application notes for Lenze controllers
2

20 EDBCSXM064 EN 11.0
Electrical connection
When working on live controllers, observe the applicable national regulations for the
prevention of accidents (e.g. VBG 4).
The electrical installation must be carried out according to the appropriate regulations
(e.g. cable cross−sections, fuses, PE connection). Additional information can be obtained
from the documentation.
This documentation contains information on installation in compliance with EMC
(shielding, earthing, filter, and cables). These notes must also be observed for CE−marked
controllers. The manufacturer of the system is responsible for compliance with the limit
values demanded by EMC legislation. The controllers must be installed in housings (e.g.
control cabinets) to meet the limit values for radio interferences valid at the site of
installation. The housings must enable an EMC−compliant installation. Observe in
particular that e.g. the control cabinet doors have a circumferential metal connection to
the housing. Reduce housing openings and cutouts to a minimum.
Lenze controllers may cause a DC current in the PE conductor. If a residual current device
(RCD) is used for protection against direct or indirect contact for a controller with
three−phase supply, only a residual current device (RCD) of type B is permissible on the
supply side of the controller. If the controller has a single−phase supply, a residual current
device (RCD) of type A is also permissible. Apart from using a residual current device (RCD),
other protective measures can be taken as well, e.g. electrical isolation by double or
reinforced insulation or isolation from the supply system by means of a transformer.
Operation
If necessary, systems including controllers must be equipped with additional monitoring
and protection devices according to the valid safety regulations (e.g. law on technical
equipment, regulations for the prevention of accidents). The controllers can be adapted to
your application. Please observe the corresponding information given in the
documentation.
After the controller has been disconnected from the supply voltage, all live components
and power terminals must not be touched immediately because capacitors can still be
charged. Please observe the corresponding stickers on the controller.
All protection covers and doors must be shut during operation.
Notes for UL−approved systems with integrated controllers: UL warnings are notes that
only apply to UL systems. The documentation contains special UL notes.